ABB M2004 - Page 49

1 Description
1.8.1 Introduction
3HAC9117-1 Rev.N 47
Figure 26 The extreme positions of the robot arm IRB 4450/S (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4450/S:
Position No.
(see Figure 26)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0 2006 556 0 0
1 2190 978 0 -30
2 1437 -1054 95 -60
3 294 -303 95 40
4 1101 239 0 65
5 1058 847 -70 65
6 1195 1208 -70 40